ESTIMATION OF 3-D ANGULAR MOTION USING GYROSCOPES AND LINEAR ACCELEROMETERS

被引：16

作者：

ALGRAIN, MC ^{[1
]}

SANIIE, J ^{[1
]}

机构：

[1] IIT, DEPT ELECT & COMP ENGN, CHICAGO, IL 60616 USA

来源：

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 1991年 / 27卷 / 06期

关键词：

Spacecraft;

D O I：

10.1109/7.104259

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This work presents a novel, real-time, angular motion estimation technique using a linear Gaussian estimator, and the outputs of linear accelerometers and gyroscopes, to assess the actual angular velocity of a rigid body in three-dimensional (3-D) space. The method obtains the covariances of the random actual 3-D angular velocity, the angular velocity measurement and the measurement noise, from the time averages of the outputs of an array of nine linear accelerometers and the outputs of three orthogonal gyroscopes. These statistics are used by the estimator to calculate the angular velocity or the rigid body in 3-D space. The multisensor technique performance is evaluated through a computer simulation. The results indicate the new method leads to more accurate angular velocity values than are obtained conventionally.

引用

页码：910 / 920

页数：11